(define (problem multirobot_21_2_c1)
 (:domain multirobot)
 (:objects
  v0 r54
  v1 r38
  v2 r45
  v3 r25
  v4 r23
  v5 r46
  v6 r58
  v7 r72
  v8 r29
  v9 r3
  v10 r2
  v11
  v12 r44
  v13
  v14 r65
  v15 r69
  v16 r74
  v17 r8
  v18 r55
  v19 r47
  v20 r21
  v21 r82
  v22 r53
  v23 r31
  v24 r67
  v25 r50
  v26 r41
  v27 r64
  v28 r76
  v29 r13
  v30 r7
  v31 r16
  v32 r63
  v33 r77
  v34 r26
  v35 r39
  v36 r84
  v37 r37
  v38 r10
  v39 r51
  v40 r6
  v41 r30
  v42 r33
  v43 r9
  v44 r59
  v45 r35
  v46 r71
  v47 r36
  v48 r32
  v49 r34
  v50 r17
  v51 r42
  v52 r80
  v53 r27
  v54 r5
  v55 r49
  v56 r52
  v57 r56
  v58 r60
  v59 r18
  v60 r19
  v61 r73
  v62 r61
  v63 r43
  v64 r40
  v65 r12
  v66 r78
  v67 r81
  v68 r57
  v69 r75
  v70 r4
  v71 r28
  v72 r79
  v73 r62
  v74 r24
  v75 r22
  v76 r20
  v77 r48
  v78 r14
  v79 r70
  v80 r15
  v81 r83
  v82 r68
  v83 r11
  v84 r66
 )
 (:init
  (at r54 v0)
  (at r38 v1)
  (at r45 v2)
  (at r25 v3)
  (at r23 v4)
  (at r46 v5)
  (at r58 v6)
  (at r72 v7)
  (at r29 v8)
  (at r3 v9)
  (at r2 v10)
  (free v11)
  (at r44 v12)
  (free v13)
  (at r65 v14)
  (at r69 v15)
  (at r74 v16)
  (at r8 v17)
  (at r55 v18)
  (at r47 v19)
  (at r21 v20)
  (at r82 v21)
  (at r53 v22)
  (at r31 v23)
  (at r67 v24)
  (at r50 v25)
  (at r41 v26)
  (at r64 v27)
  (at r76 v28)
  (at r13 v29)
  (at r7 v30)
  (at r16 v31)
  (at r63 v32)
  (at r77 v33)
  (at r26 v34)
  (at r39 v35)
  (at r84 v36)
  (at r37 v37)
  (at r10 v38)
  (at r51 v39)
  (at r6 v40)
  (at r30 v41)
  (at r33 v42)
  (at r9 v43)
  (at r59 v44)
  (at r35 v45)
  (at r71 v46)
  (at r36 v47)
  (at r32 v48)
  (at r34 v49)
  (at r17 v50)
  (at r42 v51)
  (at r80 v52)
  (at r27 v53)
  (at r5 v54)
  (at r49 v55)
  (at r52 v56)
  (at r56 v57)
  (at r60 v58)
  (at r18 v59)
  (at r19 v60)
  (at r73 v61)
  (at r61 v62)
  (at r43 v63)
  (at r40 v64)
  (at r12 v65)
  (at r78 v66)
  (at r81 v67)
  (at r57 v68)
  (at r75 v69)
  (at r4 v70)
  (at r28 v71)
  (at r79 v72)
  (at r62 v73)
  (at r24 v74)
  (at r22 v75)
  (at r20 v76)
  (at r48 v77)
  (at r14 v78)
  (at r70 v79)
  (at r15 v80)
  (at r83 v81)
  (at r68 v82)
  (at r11 v83)
  (at r66 v84)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v13)
  (adjacent v1 v2)
  (adjacent v1 v39)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v3 v19)
  (adjacent v3 v51)
  (adjacent v4 v12)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v20)
  (adjacent v9 v32)
  (adjacent v9 v45)
  (adjacent v10 v11)
  (adjacent v10 v23)
  (adjacent v11 v12)
  (adjacent v13 v14)
  (adjacent v13 v49)
  (adjacent v14 v15)
  (adjacent v14 v24)
  (adjacent v14 v33)
  (adjacent v15 v16)
  (adjacent v15 v31)
  (adjacent v16 v17)
  (adjacent v16 v52)
  (adjacent v16 v59)
  (adjacent v17 v18)
  (adjacent v17 v30)
  (adjacent v18 v19)
  (adjacent v18 v77)
  (adjacent v19 v28)
  (adjacent v19 v84)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v27)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v24 v71)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v32)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v45)
  (adjacent v29 v50)
  (adjacent v29 v78)
  (adjacent v30 v31)
  (adjacent v30 v80)
  (adjacent v33 v34)
  (adjacent v33 v40)
  (adjacent v33 v53)
  (adjacent v33 v66)
  (adjacent v33 v81)
  (adjacent v34 v35)
  (adjacent v34 v44)
  (adjacent v34 v65)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v70)
  (adjacent v38 v39)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v46)
  (adjacent v43 v58)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v52)
  (adjacent v48 v49)
  (adjacent v48 v78)
  (adjacent v50 v51)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v79)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
 )
 (:goal
  (and
  (at r8 v0)
  (free v1)
  (at r82 v2)
  (at r64 v3)
  (at r5 v4)
  (at r28 v5)
  (at r52 v6)
  (at r6 v7)
  (at r44 v8)
  (at r76 v9)
  (at r72 v10)
  (at r46 v11)
  (at r40 v12)
  (at r19 v13)
  (at r35 v14)
  (at r83 v15)
  (at r75 v16)
  (at r43 v17)
  (at r51 v18)
  (at r71 v19)
  (at r29 v20)
  (at r84 v21)
  (at r17 v22)
  (at r61 v23)
  (at r48 v24)
  (at r50 v25)
  (at r13 v26)
  (free v27)
  (at r53 v28)
  (at r49 v29)
  (at r14 v30)
  (at r81 v31)
  (at r79 v32)
  (at r56 v33)
  (at r2 v34)
  (at r22 v35)
  (at r58 v36)
  (at r12 v37)
  (at r21 v38)
  (at r36 v39)
  (at r66 v40)
  (at r45 v41)
  (at r42 v42)
  (at r41 v43)
  (at r62 v44)
  (at r68 v45)
  (at r31 v46)
  (at r27 v47)
  (at r47 v48)
  (at r77 v49)
  (at r10 v50)
  (at r78 v51)
  (at r15 v52)
  (at r55 v53)
  (at r59 v54)
  (at r38 v55)
  (at r26 v56)
  (at r73 v57)
  (at r37 v58)
  (at r3 v59)
  (at r16 v60)
  (at r60 v61)
  (at r25 v62)
  (at r69 v63)
  (at r39 v64)
  (at r70 v65)
  (at r65 v66)
  (at r18 v67)
  (at r7 v68)
  (at r9 v69)
  (at r54 v70)
  (at r74 v71)
  (at r57 v72)
  (at r63 v73)
  (at r67 v74)
  (at r23 v75)
  (at r32 v76)
  (at r24 v77)
  (at r80 v78)
  (at r20 v79)
  (at r11 v80)
  (at r30 v81)
  (at r33 v82)
  (at r4 v83)
  (at r34 v84)
  )
 )
)